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Proceedings Paper

Configuration Understanding: Analyzing The Contents Of A Pile
Author(s): Prasanna G. Mulgaonkar; Jeff DeCurtins; Cregg K. Cowan
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Paper Abstract

A technique for analyzing dense range images of a pile of simple but unknown objects is discussed. The technique analyzes the configuration of objects in the pile and uses concepts such as stability, viewpoint independence, and object solidity to hypothesize the shapes and sizes of the objects. These hypotheses are analyzed using the known geometry of the range sensor to rule out the inconsistent configurations. The final result of the analysis is one or more descriptions of the 3-D scene, each of which is consistent with i he sensed data, and with the constraints imposed by the physics of objects in contact.

Paper Details

Date Published: 21 March 1989
PDF: 11 pages
Proc. SPIE 1095, Applications of Artificial Intelligence VII, (21 March 1989); doi: 10.1117/12.969316
Show Author Affiliations
Prasanna G. Mulgaonkar, SRI International (United States)
Jeff DeCurtins, SRI International (United States)
Cregg K. Cowan, SRI International (United States)

Published in SPIE Proceedings Vol. 1095:
Applications of Artificial Intelligence VII
Mohan M. Trivedi, Editor(s)

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